- Made the HRPT temperature log lmd200 work

- Added a special el734hp which scales with 1000 for SANSLI
- Added another error to the magnet driver: magnet broken

dornier2.c

@@ -141,6 +141,7 @@ static int takeControl(pDornier pDorn){
       }
       pDorn->lastStatus = DStatus;
     }
+    
     *fPos = pDorn->lastStatus.cur_rpm;
     pDorn->fLastRPM = pDorn->lastStatus.cur_rpm;
     return 1;

el734hp.c

@@ -675,6 +675,31 @@ MotorDriver *CreateEL734HP(SConnection *pCon, int argc, char *argv[]){
   SCWrite(pCon,pError,eError);
   return (MotorDriver *)pNew;
 }
+/*================ a 1000 scaled motor for SANSLI =================*/
+static int EL734TRun(void *pData,float fValue){
+	return EL734Run(pData, fValue*1000);
+}
+/*-----------------------------------------------------------------*/
+static int EL734TGetPos(void *pData, float *fPos){
+	int status;
+	status = EL734GetPos(pData, fPos);
+	*fPos /= 1000;
+	return status;
+}
+/*-------------------------------------------------------------------*/
+MotorDriver *CreateEL734HPT(SConnection *pCon, int argc, 
+			char *argv[]){
+	MotorDriver *pDriv = NULL;
+	pDriv = CreateEL734HP(pCon,argc,argv);
+	if(pDriv != NULL){
+		pDriv->GetPosition = EL734TGetPos;
+		pDriv->RunTo = EL734TRun;
+		pDriv->fLower /= 1000.;
+		pDriv->fUpper /= 1000.;
+	}
+	return pDriv;
+}
+
 
 
 

el755driv.c

@@ -23,6 +23,9 @@
 #include "hardsup/el755_errcodes.h"
 #include "hardsup/sinq_prototypes.h"
 
+#define CAPSIZED -8090
+
+#define ABS(x) (x < 0 ? -(x) : (x)) 
 /*-----------------------------------------------------------------------*/
   typedef struct {
                    void *pData;
@@ -31,6 +34,7 @@
                    int iChannel;
                    int iIndex;
                    int iLastError;
+                   int iCapCount;
                   } EL755Driv, *pEL755Driv;
 
 /*---------------------------------------------------------------------------*/
@@ -49,6 +53,22 @@
      {
         return 0;
      }
+     /**
+      * This here is a check for the condition when the current breaks down.
+      * This situation is characterized by the fSoll being something and the 
+      * fPos being 0.
+      */
+     if(ABS(*fPos) < .1 && ABS(fSoll) > .1 ){
+    	 pMe->iCapCount++;
+    	 if(pMe->iCapCount > 3){
+    		 pMe->iLastError = CAPSIZED;
+    		 return 0;
+    	 }
+     } 
+     else
+     {
+    	 pMe->iCapCount = 0;
+     }
      return 1;
   } 
 /*----------------------------------------------------------------------------*/
@@ -62,6 +82,7 @@
      assert(pMe);
 
      iRet = EL755_SetCurrent(&(pMe->pData),fVal);
+     pMe->iCapCount = 0;
      if(iRet != 1)
      {
        return 0;
@@ -84,6 +105,9 @@
      EL755_ErrInfo(&pPtr,iCode,&i1,&i2);
      switch(*iCode)
      {
+     case CAPSIZED:
+    	 	  strncpy(error,"Powersupply has capsized, try lower current", iErrLen);
+    	 	  break;
           case EL755__TURNED_OFF:
               strncpy(error,"EL755__TURNED_OF",iErrLen);
               break;
@@ -215,6 +239,7 @@
 
      switch(iError)
      {
+          case CAPSIZED:
           case EL755__TURNED_OFF:
           case EL755__TOO_MANY:
           case EL755__TOO_LARGE:

lmd200.c

@@ -54,15 +54,21 @@
     }
     free(priv);
  }
-/*--------------------------------------------------------------------------*/
+/*-------------------------------------------------------------------------*/
-static void doAlarm(pSICSOBJ self, char *lineBuffer){
+static void setAlarm(pSICSOBJ self, char *text){
     hdbValue alarmVal;
     pHdb node = NULL;
     
-    alarmVal = MakeHdbText(lineBuffer);
+    alarmVal = MakeHdbText(text);
     node = GetHipadabaNode(self->objectNode,"alarm");
     assert(node != NULL);
     UpdateHipadabaPar(node,alarmVal, NULL);
+    ReleaseHdbValue(&alarmVal);
+}
+/*--------------------------------------------------------------------------*/
+static void doAlarm(pSICSOBJ self, char *lineBuffer){
+    
+    setAlarm(self,lineBuffer);
     WriteToCommandLog("CERCA>> ", lineBuffer);
     ServerWriteGlobal(lineBuffer,eError);
 }
@@ -79,6 +85,7 @@ static void storeData(pSICSOBJ self, int start, char *lineBuffer){
      * throw first away
      */
     pPtr = stptok(lineBuffer,number,80," ");
+    pPtr = trim(pPtr);
     pPtr = stptok(pPtr,number,80," ");
     while(pPtr != NULL){
         if(strstr(number,"noinp") != NULL){
@@ -89,46 +96,76 @@ static void storeData(pSICSOBJ self, int start, char *lineBuffer){
             if(pKomma != NULL){
                 *pKomma = '.';
             }
+            pKomma = strchr(number,'(');
+            if(pKomma != NULL){
+                *pKomma = ' ';
+            }
+            pKomma = strchr(number,')');
+            if(pKomma != NULL){
+                *pKomma = ' ';
+            }
             node->value.v.floatArray[start] = atof(trim(number));
             start++;
         }
+        pPtr = trim(pPtr);             
         pPtr = stptok(pPtr,number,80," ");
      }
  }
 /*--------------------------------------------------------------------------*/
 static int countTokens(char *lineBuffer){
     int count = 0;
-    char myBuffer[BUFLEN];
+    char myBuffer[BUFLEN], token[60];
     char *pPtr = NULL;
      
+
     memset(myBuffer,0,BUFLEN);
     strcpy(myBuffer, lineBuffer);
     pPtr = myBuffer;
+    pPtr = stptok(pPtr,token, 60," \r\n");
     while(pPtr != NULL){
         count++;
-        pPtr = strtok(pPtr," ");
+        pPtr = trim(pPtr);
+        pPtr = stptok(pPtr,token,60," \r\n");
     }
     return count;
 }
 /*--------------------------------------------------------------------------*/
 static void interpretLine(pSICSOBJ self, pLMD200 priv){
+  pHdb node = NULL;
+
     switch(priv->state){
         case IDLE:
-            if(countTokens(priv->lineBuffer) == 2){
+        	if(strstr(priv->lineBuffer, "Alarm") != NULL){
-                priv->state = WAITDATA1;
-                return;
-            } else  {
         		doAlarm(self, priv->lineBuffer);
         		return;
+        	} else if(strstr(priv->lineBuffer,"Pre") != NULL){
+        		setAlarm(self,priv->lineBuffer);
+            } else  {
+              priv->state = WAITDATA1;
+              setAlarm(self,"I do not feel very alarmed");
+              return;
             }
             break;
         case WAITDATA1:
+        	if(strstr(priv->lineBuffer,"...0") == NULL){
+        		/* this data is out of order, recover...*/
+        		priv->state == IDLE;
+        		return;
+        	}
             storeData(self, 0, priv->lineBuffer);
             priv->state = WAITDATA2;
             break;   
         case WAITDATA2:
+        	if(strstr(priv->lineBuffer,"...0") == NULL){
+        		/* this data is out of order, recover...*/
+        		priv->state == IDLE;
+        		return;
+        	}
             storeData(self, 8, priv->lineBuffer);
             priv->state = IDLE;
+	    node = GetHipadabaNode(self->objectNode,"data");
+	    assert(node != NULL);
+	    NotifyHipadabaPar(node,NULL);
             break;   
     }
 }
@@ -139,23 +176,22 @@ static void interpretLine(pSICSOBJ self, pLMD200 priv){
 static int LMD200Callback(void *context, int mode){
     pSICSOBJ self = (pSICSOBJ)context;
     pLMD200 priv = NULL;
-    char buffer[512], *pPtr = NULL;
+    char buffer[512], *pPtr = NULL, line[132];    
 
     assert(self != NULL);
     priv = (pLMD200)self->pPrivate;
     if(mode == nwatch_read){
         memset(buffer,0,512);
+        memset(line,0,132);
         NETRead(priv->pSock, buffer, 512, 0);
-        pPtr = strchr(buffer,'\n');
+	pPtr = stptok(buffer,line,132,"\r");
-        if(pPtr != NULL){
+        while(pPtr != NULL){
-            *pPtr = '\0';
+	  if(strlen(line) > 3){
-            strncat(priv->lineBuffer,buffer,BUFLEN);
+            strncpy(priv->lineBuffer,line,BUFLEN);
             interpretLine(self, priv);
             priv->lineBuffer[0] = '\0';
-            pPtr++;
+	  }
-            strncpy(priv->lineBuffer,pPtr,BUFLEN);
+          pPtr = stptok(pPtr,line,132,"\r");
-        }  else {
-            strncat(priv->lineBuffer,buffer,BUFLEN);
         }      
     }
     return 1;
@@ -166,17 +202,18 @@ int MakeLMD200(SConnection *pCon, SicsInterp *pSics, void *pData,
         pSICSOBJ self = NULL;
         pLMD200 priv = NULL;
         hdbValue dataValue, textValue;
+	int status;
 
-        if(argc < 5){
+        if(argc < 4){
             SCWrite(pCon,
-                "ERROR: require name class host and port parameter for initialization",
+                "ERROR: require name  host and port parameters for initialization",
                 eError);
             return 0;
         }
         priv = (pLMD200)malloc(sizeof(LMD200));
         memset(priv,0,sizeof(LMD200)); 
-        strncpy(priv->host,argv[3], 256);
+        strncpy(priv->host,argv[2], 256);
-        priv->port = atoi(argv[4]);
+        priv->port = atoi(argv[3]);
         priv->pSock = NETConnect(priv->host,priv->port);
         if(priv->pSock == NULL){
             SCWrite(pCon,"ERROR: failed to connect to LMD200",eError);
@@ -184,7 +221,7 @@ int MakeLMD200(SConnection *pCon, SicsInterp *pSics, void *pData,
             return 0;
         }
 
-        self = SetupSICSOBJ(pCon,pSics, pData,argc, argv);
+        self = MakeSICSOBJv(argv[1],"LMD400",HIPNONE, 0);
         if(self == NULL || priv == NULL){
             return 0;
         }
@@ -198,5 +235,18 @@ int MakeLMD200(SConnection *pCon, SicsInterp *pSics, void *pData,
         ReleaseHdbValue(&textValue);
         NetWatchRegisterCallback(&priv->watchContext, priv->pSock->sockid, 
             LMD200Callback, self);
+
+        status = AddCommand(pSics,
+                            argv[1],
+                            InterInvokeSICSOBJ,
+                            KillSICSOBJ,
+                            self);
+        if(status != 1){
+            KillSICSOBJ(self);
+            SCPrintf(pCon,eError,"ERROR: failed create duplicate command %s", argv[1]);
+            return 0;
+        }
+
+	
         return 1;
 } 

make_gen

@@ -22,7 +22,7 @@ OBJ=psi.o buffer.o ruli.o dmc.o nxsans.o nextrics.o sps.o pimotor.o \
 	$(MZOBJ) amordrive.o amorset.o tcpdornier.o sinqhttp.o\
 	dgrambroadcast.o sinq.o tabledrive.o tcpdocho.o julcho.o \
 	ritastorage.o poldizug.o audinelib.o delcam.o el737hpdrivsps.o \
-	rebin.o sanslirebin.o lmd200.o
+	rebin.o sanslirebin.o lmd200.o slsvme.o
 
 .SECONDARY.: sanslirebin.c
 

psi.c

@@ -174,6 +174,7 @@ static void RemovePsiCommands(SicsInterp *pSics){
   MotorDriver *CreateEL734(SConnection *pCon, int argc, char *argv[]);
   MotorDriver *CreateEL734DC(SConnection *pCon, int argc, char *argv[]);
   MotorDriver *CreateEL734HP(SConnection *pCon, int argc, char *argv[]);
+  MotorDriver *CreateEL734HPT(SConnection *pCon, int argc, char *argv[]);
   MotorDriver *MakePiPiezo(Tcl_Interp *pTcl,char *pArray);
 /*-------------------------------------------------------------------*/
 static pMotor CreatePsiMotor(SConnection *pCon, int argc, char *argv[]){
@@ -220,6 +221,18 @@ static pMotor CreatePsiMotor(SConnection *pCon, int argc, char *argv[]){
       SCWrite(pCon,pBueffel,eError);
       return NULL; 
     }
+  } else if(strcmp(argv[1],"el734hpt") == 0){
+    pDriver = (MotorDriver *)CreateEL734HPT(pCon,argc-2,&argv[2]);
+    if(!pDriver){
+       return NULL;
+    }
+    /* create the motor */
+    pNew  = MotorInit("EL734HPT",argv[0],pDriver);
+    if(!pNew){
+      sprintf(pBueffel,"Failure to create motor %s",argv[1]);
+      SCWrite(pCon,pBueffel,eError);
+      return NULL; 
+    }
   } else if(strcmp(argv[1],"el734dc") == 0){
     pDriver = (MotorDriver *)CreateEL734DC(pCon,argc-2,&argv[2]);
     if(!pDriver){
@@ -417,7 +430,7 @@ static void ConfigureController(char *name, pEVControl pNew,
 }
 /*-------------------------------------------------------------------*/
 extern pEVDriver CreateSLSDriv(int argc, char *argv[]);
-
+extern pEVDriver CreateSLSVMEDriv(int argc, char *argv[]);
 /*------------------------------------------------------------------*/
 
 static pEVControl InstallPsiEnvironmentController(SicsInterp *pSics,
@@ -506,6 +519,12 @@ static pEVControl InstallPsiEnvironmentController(SicsInterp *pSics,
     if(pDriv != NULL){
       pNew = CreateEVController(pDriv,argv[2],&status);
     }
+  } else if(strcmp(argv[3],"vme-dsp") == 0) {
+    checkError = 1;
+    pDriv = CreateSLSVMEDriv(argc-4,&argv[4]);
+    if(pDriv != NULL){
+      pNew = CreateEVController(pDriv,argv[2],&status);
+    }
   } else if(strcmp(argv[3],"el755") == 0){
     checkError = 1;
     pDriv = CreateEL755Driv(argc-4,&argv[4]);